#pragma config(Hubs,  S1, HTMotor,  HTMotor,  none,     none)
#pragma config(Hubs,  S2, HTServo,  none,     none,     none)
#pragma config(Hubs,  S3, HTMotor,  HTMotor,  none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     ,               sensorI2CMuxController)
#pragma config(Sensor, S3,     ,               sensorI2CMuxController)
#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorC,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  mtr_S1_C1_1,     motor1,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     motor2,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     motor3,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     motor4,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S3_C1_1,     intake,        tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S3_C1_2,     conveyor,      tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S3_C2_1,     armMotor1,     tmotorTetrix, PIDControl, reversed, encoder)
#pragma config(Motor,  mtr_S3_C2_2,     armMotor2,     tmotorTetrix, PIDControl, encoder)
#pragma config(Servo,  srvo_S2_C1_1,    goalGripper,          tServoStandard)
#pragma config(Servo,  srvo_S2_C1_2,    armServo1,            tServoStandard)
#pragma config(Servo,  srvo_S2_C1_3,    armServo2,            tServoStandard)
#pragma config(Servo,  srvo_S2_C1_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S2_C1_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S2_C1_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                           Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                    initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
  // Place code here to sinitialize servos to starting positions.
  // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

  return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                         Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
//   1. Loop forever repeating the following actions:
//   2. Get the latest game controller / joystick settings that have been received from the PC.
//   3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
//      simple action:
//      *  Joystick values are usually directly translated into power levels for a motor or
//         position of a servo.
//      *  Buttons are usually used to start/stop a motor or cause a servo to move to a specific
//         position.
//   4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
  initializeRobot();

  waitForStart();   // wait for start of tele-op phase

  int a = 0;

  while (true)
  {
  	getJoystickSettings(joystick);

  	nxtDisplayCenteredTextLine(2, "right servo: %d", a);
  	nxtDisplayCenteredTextLine(3, "left servo: %d", 225-a);

  	if(joy1Btn(5) == 1 && a < 220)
  	{
  		a++;
  		servo[armServo1] = a;
  		servo[armServo2] = 225-a;
  	}
  	else if(joy1Btn(7) == 1 && a > 5)
  	{
  		a--;
  		servo[armServo1] = a;
  		servo[armServo2] = 225-a;
  	}
  }
}
